基于反向串联耦合线圈的水下航行器抗偏移充电系统研究

doi:10.19595/j.cnki.1000-6753.tces.251209

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摘要自主水下航行器对于水下资源勘探、远洋开发等领域的发展具有非常重要的应用价值。受限于水下作业环境的特殊性,无线电能传输技术可以有效避免有线电气接触带来的短路风险,但发射和接收线圈间会产生轴向和旋转偏移的现象。针对自主水下航行器无线充电系统因偏移导致的传输功率和效率下降问题,该文从补偿网络设计、耦合机构设计及系统控制三个方面展开研究。首先,提出一种基于LCC/S/S混合补偿网络与双路并联整流桥的电路拓扑结构,该结构在谐振状态下具有负载无关的恒压传输特性。其次,设计了一种基于反向串联同轴螺线管线圈的新型耦合机构,在360°旋转偏移时互感波动极小,且在轴向偏移距离达到整体尺寸75%时,等效互感波动仅为10.2%,表现出优异的抗偏移性能。此外,采用基于电压电流双环竞争控制策略的同步Buck变换器,实现了系统的恒流恒压输出。最后,通过实验验证,系统在±132 mm轴向偏移范围内,整流输出电压波动仅为9.7%,最高直流传输效率达95.1%,整体效率为90.3%。该文所设计的系统在抗偏移能力和效率方面均表现出显著的优势,具备较高的工程应用价值。

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	梁晨旭
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	王小华
	荣命哲

关键词 ：自主水下航行器, 无线电能传输, 耦合机构, 抗偏移, 恒压恒流

Abstract：Autonomous underwater vehicles (AUVs) have demonstrated significant application value in fields such as underwater resource exploration and ocean development. The challenges of underwater environments, including the limitations of wired power transmission, necessitate the adoption of wireless power transfer (WPT) technology, which eliminates the risk of short circuits associated with physical electrical contacts. However, WPT systems often face axial and rotational misalignment between the transmitting and receiving coils, reducing power transmission efficiency. This paper focuses on three key aspects: compensation network design, coupling mechanism design, and system control.
Firstly, a novel circuit topology based on an LCC/S/S hybrid compensation network and a dual-path parallel rectifier bridge is proposed, as shown in Fig.A1. The LCC/S/S hybrid compensation network exhibits a load-independent, constant-voltage output characteristic under resonant conditions. Combined with the output-voltage-clamping behavior of the dual-path parallel-diode full-bridge rectifier, the system topology transitions through six distinct operating modes as axial misalignment varies. Although the power transfer path may differ across these modes, the rectified output voltage depends solely on the equivalent mutual inductance of the coupling mechanism. The rectified output voltage expressions for each operating mode can be summarized based on the relative magnitudes of M_ps1 and M_ps2, as shown in Equation (A1).
$\left\{ \begin{align} & \left| {{M}_{\text{ps1}}} \right|\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps1}}} \right|}{{{L}_{\text{f1}}}}E \\ & \left| {{M}_{\text{ps1}}} \right|=\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps1}}} \right|}{{{L}_{\text{f1}}}}E=1.08\frac{\left| {{M}_{\text{ps2}}} \right|}{{{L}_{\text{f1}}}}E \\ & \left| {{M}_{\text{ps1}}} \right|\left| {{M}_{\text{ps2}}} \right|\to {{U}_{\text{REC}}}\approx 1.08\frac{\left| {{M}_{\text{ps2}}} \right|}{{{L}_{\text{f1}}}}E \\ \end{align} \right.$ (A1)
Secondly, a new coupling mechanism utilizing reverse-series coaxial solenoid coils is designed. The coupling mechanism, based on reverse-series coaxial solenoid coils, exhibits full 360° rotational misalignment tolerance and radial misalignment tolerance within the structural constraints of the AUV and charging dock. With optimized design, the axial misalignment tolerance reaches ±132 mm, which is 75% of the total coupling structure length and represents a 2.3-fold improvement over a control configuration using a single solenoid receiver coil, which achieves only approximately ±57 mm of axial tolerance.
Furthermore, a synchronous Buck converter employing a voltage-current dual-loop competitive control strategy is implemented to achieve constant-current and constant-voltage outputs. Each control loop generates its own error signal, V_e1 (voltage error) and V_e2 (current error). The channel selector chooses the one with the smaller magnitude as the final input to the PWM controller, eliminating the need for external state-switching logic. The dual-loop competitive control enables a seamless, automatic transition from constant-current (CC) to constant- voltage (CV) charging modes, offering superior dynamic adaptability that aligns well with the charging requirements of lithium-ion batteries.
Finally, experimental results show that the rectifier output voltage fluctuates by only 9.7% over an axial misalignment range of ±132 mm. Within the axial misalignment range, the system transitions internally through six distinct operating modes while maintaining a stable constant-current/constant-voltage output of 25.2 V/5 A at the external terminals. When operating in Mode 3, where the currents in the two receiver coils are equal, the system achieves a peak DC-to-DC transmission efficiency of 95.1% and an overall system efficiency of 90.3%. The proposed system demonstrates significant advantages in both anti-misalignment capability and efficiency, highlighting its strong potential for practical engineering applications.

Key words： Autonomous underwater vehicle wireless power transfer coupling mechanism anti- misalignment constant voltage and constant current

收稿日期: 2025-07-09

PACS:

TM724

通讯作者: 袁欢男,1992年生,副教授,博士生导师,研究方向为电力设备在线监测与寿命评估、电力设备智能设计与数字孪生技术、微能量收集与无线能量传输技术。E-mail: huanyuan@xjtu.edu.cn

作者简介: 梁晨旭男,1999年生,博士研究生,研究方向为感应式无线电能传输。E-mail: liangchen24@stu.xjtu.edu.cn

引用本文:

梁晨旭, 赵成, 袁欢, 王小华, 荣命哲. 基于反向串联耦合线圈的水下航行器抗偏移充电系统研究[J]. 电工技术学报, 2026, 41(14): 4687-4705. Liang chenxu, Zhao Cheng, Yuan Huan, Wang Xiaohua, Rong Mingzhe. Research on an Anti-Misalignment Charging System for Underwater Vehicles Based on Reverse Series Coupled Coils. Transactions of China Electrotechnical Society, 2026, 41(14): 4687-4705.

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